Autonomous cars: The tension between occupant experience and intersection capacity

Systems that enable high levels of vehicle-automation are now beginning to enter the commercial marketplace. Road vehicles capable of operating independently of real-time human control under an increasing set of circumstances will likely become more widely available in the near future. Such vehicles are expected to bring a variety of benefits. Two such anticipated advantages (relative to human-driver vehicle control) are said to be increased road network capacity and the freeing up of the driver-occupant’s time to engage in their choice of leisurely or economically-productive (non-driving) tasks.In this study we investigate the implications for intersection capacity and level-of-service of providing occupants of automated (without real-time human control), autonomously-operating (without vehicle-to-X communication) cars with ride quality that is equivalent (in terms of maximum rates of longitudinal and lateral acceleration) to two types of rail systems: [urban] light rail transit and [inter-urban] high-speed rail. The literature suggests that car passengers start experiencing discomfort at lower rates of acceleration than car drivers; it is therefore plausible that occupants of an autonomously-operating vehicle may wish to instruct their vehicle to maneuver in a way that provides them greater ride comfort than if the vehicle-control algorithm simply mimicked human-driving-operation.On the basis of traffic microsimulation analysis, we found that restricting the dynamics of autonomous cars to the acceleration/deceleration characteristics of both rail systems leads to reductions in a signalized intersection’s vehicle-processing capacity and increases in delay. The impacts were found to be larger when constraining the autonomous cars’ dynamics to the more-restrictive acceleration/deceleration profile of high-speed rail. The scenarios we analyzed must be viewed as boundary conditions, because autonomous cars’ dynamics were by definition never allowed to exceed the acceleration/deceleration constraints of the rail systems. Appropriate evidence regarding motorists’ preferences does not exist at present; establishing these preferences is an important item for the future research agenda.This paper concludes with a brief discussion of research needs to advance this line of inquiry.     

The tax treatment of company cars, commuting and optimal congestion taxes

In Europe, the preferential tax treatment of company cars implies that many employees receive a company car as part of their compensation package. In this paper, we consider a model in which wages and the decision whether or not to provide a company car are the result of direct negotiation between employer and employee. Using this framework, we theoretically and numerically study first- and second-best optimal tax policies on labour and transport markets, focusing on the role of the tax treatment of company cars. We obtain the following results. First, higher labour taxes and a more favourable tax treatment of company cars raise the fraction employees that receives a company car; congestion and congestion tolls reduce it. Second, in countries that provide large implicit subsidies to company cars, eliminating the preferential tax treatment of company cars may be an imperfect but quite effective substitute for currently unavailable congestion tolls. The numerical illustration, calibrated using Belgian data, suggests that it yields about half the welfare gain attainable through optimal congestion taxes. Third, the favourable tax treatment of company cars justifies large public transport subsidies; the numerical results are consistent with zero public transport fares. Finally, we find that earlier models that ignored the preferential tax treatment of company cars may have substantially underestimated optimal congestion tolls in Europe. The numerical illustration suggests that about one third of the optimal congestion toll we obtain can be attributed to the current tax treatment of company cars.     

A note on the distortionary effects of revenue-neutral tolls in a bottleneck congestion game

This note demonstrates how the redistribution of revenue from a Pigouvian policy can distort incentives and handicap the social objectives of the policy by creating a moral hazard problem. Based on the Levinson (2005) game theory model, I develop a three-player bottleneck congestion game that emulates a repeated prisoner’s dilemma and derive efficient tolls. This conceptual game demonstrates the distortionary effects from a revenue-neutral toll policy with lump-sum revenue redistribution and the equity-efficiency tradeoff.     

Existence of self-financing and Pareto-improving congestion pricing: Impact of value of time distribution

This paper considers a static congestion pricing model in which travelers select a mode from either, driving on highway or taking public transit, to minimize a combination of travel time, operating cost and toll. The focus is to examine how travelers’ value of time (VOT), which is continuously distributed in a population, affects the existence of a pricing-refunding scheme that is both self-financing (i.e. requiring no external subsidy) and Pareto-improving (i.e. reducing system travel time while making nobody worse off). A condition that insures the existence of a self-financing and Pareto-improving (SFPI) toll scheme is derived. Our derivation reveals that the toll authority can select a proper SFPI scheme to distribute the benefits from congestion pricing through a credit-based pricing scheme. Under mild assumptions, we prove that an SFPI toll always exists for concave VOT functions, of which the linear function corresponding to the uniform distribution is a special case. Existence conditions are also established for a class of rational functions. These results can be used to analyze more realistic VOT distributions such as log-normal distribution. A useful implication of our analysis is that the existence of an SFPI scheme is not guaranteed for general functional forms. Thus, external subsidies may be required to ensure Pareto-improving, even if policy-makers are willing to return all toll revenues to road users.     

The value of travel time and reliability-evidence from a stated preference survey and actual usage

This research examined travel behavior of Managed Lane (ML) users to better understand the value travelers place on travel time savings and travel time reliability. We also highlight the importance of survey design techniques. These objectives were accomplished through a stated preference survey of Houston’s Katy Freeway travelers. Three stated choice experiment survey design techniques were tested in this study: Bayesian (D_b) efficient, random level attribute generation, and an adaptive random approach. Mixed logit models were developed from responses using each of those designs. The value of travel time savings (VTTSs) estimates do vary across the design strategies, with the VTTS estimates based on the D_b-efficient design being approximately half the estimates from the other two designs. However, among the three design strategies, the value of travel time reliability (VOR) was only significant in the D_b-efficient design.The estimated VTTS from actual Katy Freeway usage (as measured using actual tolls paid and travel time saved on the managed lanes) is $51/h. This likely also includes any value that travelers place on travel time reliability. In comparison, our combined estimate of VTTS and VOR based on the SP survey (D_b-efficient design) was $50/h, which is remarkably close to the estimate from the actual usage data. Based on our dataset, the D_b-efficient design technique proved superior to the other two techniques. Finally, this research also supports the importance of including both travel time and travel time reliability parameters when estimating the willingness to pay for, and therefore benefits derived from, ML travel.     

Crossing the bridge: The effects of time-varying tolls on curbing congestion

This paper estimates the traffic volume and travel time effects of the road congestion pricing implemented on the San Francisco-Oakland Bay Bridge. I employ both difference-in-differences and regression discontinuity approaches to analyze previously unexploited data for the two years spanning the price change and obtain causal estimates of the hourly average treatment effects of the policy. I find evidence of peak spreading in traffic volume and decreases in travel time during peak hours. I also find suggestive evidence of substitution to a nearby bridge and decreases in travel time variability. In addition, I calculate own- and cross-price elasticities.     

All minutes are not equal: travel time and the effects of congestion on commute satisfaction in Canadian cities

Despite decades of research, it is unclear under which circumstances travel is most onerous. While studies have found that some individuals derive positive utility from aspects of commuting, others have shown that traffic congestion can entail important time, monetary, and mental stress costs. Moreover, responses to traffic congestion-related stressors differs by individual characteristics. In response, this research captures how exposure to traffic congestion events, the duration of this exposure, and individual trait susceptibility to congestion affect the utility of commuting. Working through the lens of individual satisfaction with the duration of their commute, we show that not every minute of travel is valued the same by car commuters in Canadian cities. Results suggest a complex relationship between travel time, congestion, and individual predisposition to congestion-related stress. While improvements in travel time matter for increasing commute satisfaction, it is reductions in travel in congested conditions that matter most, particularly among those susceptible to congestion-related stressors.     

The Stockholm congestion – charging trial 2006: Overview of effects

The Stockholm congestion charging trial in 2006 demonstrated the effects of a full-scale time-differentiated urban road toll scheme. Improvements in travel times were large enough to be perceived by the general public. This was pivotal to the radical change of public attitudes that occurred during the trial and that resulted in a positive outcome of a subsequent referendum on a proposal for making the system permanent. This paper summarises the effects of the trial and analyses to what extent targets were met. Effects on congestion reduction were larger than anticipated, which also resulted in favourable economic and environmental effects. The trial showed that a single-cordon toll could affect traffic within a large area, i.e., not just close to the zone limits.     

The influence of travel time variability on the value of time

Current benefits from travel time savings have only been related to the benefits from reducing mean travel time. Some previous attempts of including variability in the generalised cost function have mainly assumed commuters with fixed arrival time. This paper presents a comprehensive framework for valuing travel time variability that allows for any journey purpose and arrival time constraint. The proposed model is based on the expected utility approach and the mean-standard deviation approach. Stated Preference methods are considered the best technique for providing the data for calibrating the models. The values of time derived from the models are highly influenced by the value of travel time variability and it strongly depends on the probability distribution function travellers are faced with.     

Time-dependent congestion pricing system for large networks: Integrating departure time choice,dynamic traffic assignment and regional travel surveys in the Greater Toronto Area

Congestion pricing is one of the widely contemplated methods to manage traffic congestion. The purpose of congestion pricing is to manage traffic demand generation and supply allocation by charging fees (i.e., tolling) for the use of certain roads in order to distribute traffic demand more evenly over time and space. This study presents a framework for large-scale variable congestion pricing policy determination and evaluation. The proposed framework integrates departure time choice and route choice models within a regional dynamic traffic assignment (DTA) simulation environment. The framework addresses the impact of tolling on: (1) road traffic congestion (supply side), and (2) travelers’ choice dimensions including departure time and route choices (demand side). The framework is applied to a simulation-based case study of tolling a major freeway in Toronto while capturing the regional effects across the Greater Toronto Area (GTA). The models are developed and calibrated using regional household travel survey data that reflect the heterogeneity of travelers’ attributes. The DTA model is calibrated using actual traffic counts from the Ontario Ministry of Transportation and the City of Toronto. The case study examined two tolling scenarios: flat and variable tolling. The results indicate that: (1) more benefits are attained from variable pricing, that mirrors temporal congestion patterns, due to departure time rescheduling as opposed to predominantly re-routing only in the case of flat tolling, (2) widespread spatial and temporal re-distributions of traffic demand are observed across the regional network in response to tolling a significant, yet relatively short, expressway serving Downtown Toronto, and (3) flat tolling causes major and counterproductive rerouting patterns during peak hours, which was observed to block access to the tolled facility itself.     

Autonomous vehicles in mixed motorway traffic: capacity utilisation,impact and policy implications

In upcoming years, the introduction of autonomous vehicles (AVs) will reshape the transport system. The transition from a regular to an autonomous transport system, however, will take place over many years and lead to a long period with a mixed driving environment where AVs and regular vehicles (RVs) operate side by side. The purpose of this study is to investigate how the utilisation of the road capacity degrades as a function of heterogeneity in congested motorways. The analysis is based on a dedicated traffic simulator, which enables the investigation of complex dynamic spillback from congestion while allowing for different degrees of heterogeneity. The representation of autonomous vehicles is based on a modified intelligent driver model (IIDM) presented by Treiber et al. (Phys Rev E 62(2):1805–1824, 2000) and Treiber and Kesting (Traffic flow dynamics, Springer, Heidelberg, 2013), while the behaviour of drivers of RVs relies on a stochastic version of the IIDM. Three main conclusions stand out. Firstly, it is shown that in an idealised environment in which AVs operate alone, a substantially improved capacity utilisation can be attained. Secondly, when drivers of RVs are mixed with AVs, capacity utilisation degrades very fast as a function of the share of RVs. Thirdly, it is shown that the improved capacity utilisation of AVs comes in the form of reduced travel time and increased throughput, with indications that travel time reductions are the most important. From a strategical planning perspective, the results underline that dedicated lanes are preferable to attain the positive effects of AVs. Specifically, we compare a stylised situation with three lanes with a share of 33% AVs to a situation with two regular lanes and a single dedicated AV lane. The latter represents a tripling in consumer surplus all other things being equal.

     

The German value of time and value of reliability study: the survey work

Transportation - In 2012 Germany’s Federal Ministry of Transport and Digital Infrastructure (BMVI) initiated several projects in preparation of the new Federal Transport Infrastructure Plan...     

The congestion multiplier: Variations in motorists’ valuations of travel time with traffic conditions

The value of travel time savings in part depends upon the disutility of the travel time that is saved and partly on the use to which the time saved is put. It has long been recognised that the disutility of the time spent travelling also depends upon a wide range of factors such as the journey length or the effort, comfort and safety associated with travelling.Hence we might expect the value of motorists’ travel time to vary with the traffic conditions as represented by the degree of congestion, in part to reflect the more difficult driving environment when there are more vehicles, but also a higher sense of frustration, similar to that associated with waiting time and contributing to its premium valuation.In this context, and despite the predominance of car travel in developed countries, the empirical evidence specifically relating to car values of travel time tends to fail to distinguish between different types of time according to the degree of congestion. Thus we are often left unclear as to precisely what type of time has been valued. Moreover, when a distinction is made, it tends to be into a simple dichotomy of congested and uncongested traffic.This paper provides new evidence on the variation in the valuation of motorists’ travel time savings across a finer gradation of types of time than has been hitherto attempted. This is obtained from the same Stated Choice exercise conducted in the United Kingdom and the United States. The paper also provides an extensive account of previous research into how congestion impacts on motorists’ values of time.     

Airport congestion pricing and terminal investment: Effects of terminal congestion,passenger types,and concessions

None of the airport-pricing studies have differentiated the congestion incurred in the terminals from the congestion incurred on the runways. This paper models and connects the two kinds of congestion in one joint model. This is done by adopting a deterministic bottleneck model for the terminal to describe passengers’ behavior, and a simpler static congestion model for the runway. We find that different from the results obtained in the literature, uniform airfare does not yield the first-best outcome when terminal congestion is explicitly taken into account. In particular, business passengers are at first-best charged a higher fare than leisure passengers if and only if their relative schedule-delay cost is higher. We further identify circumstances under which passengers are, given a uniform airport charge scheme, under- or over-charged with respect to the terminal charge. Furthermore, when concession surplus is added to the analysis, the airport may raise (rather than reduce) the airport charge in order to induce more business passengers who in turn will lengthen leisure passengers’ dwell time and hence increase their chance of purchasing concession goods. Finally, the impacts of terminal capacity expansion and time-varying terminal fine toll are discussed.     

Income effects,cost damping and the value of time: theoretical properties embedded within practical travel choice models

Mackie et al. (Values of travel time savings in the UK. Report to Department for Transport. Institute for Transport Studies, University of Leeds & John Bates Services, Leeds and Abingdon, 2003) proposed an identity relating the value of time (VoT) for commute and leisure travel to income and travel cost, reporting the prevalence of ‘cost damping’ (i.e. the phenomenon where VoT increases as travel cost increases). This identity (or a variant thereof) has been adopted within official methods for estimating VoT in the UK, Switzerland and The Netherlands. The present paper shows that Mackie et al.’s identity: (i) implies linear preferences, not strictly convex preferences as reported by Mackie et al.; (ii) complies with homogeneity and symmetry by construction; (iii) complies with adding-up if and only if VoT is unit elastic with respect to income; (iv) complies with negativity if VoT is unit elastic or greater with respect to income; (v) violates both adding-up and negativity in the case of the 2003 UK national VoT study. We propose alternative identities which comply with adding-up and homogeneity by construction, and offer comparable fit to Mackie et al.’s identity on the UK VoT dataset. We also find that the imposition of adding-up and negativity on Mackie et al.’s identity, through appropriate constraint on model estimation, leads to an increase of around 20% in valuations from the 2003 UK dataset.     

Complementarity formulations for the cell transmission model based dynamic user equilibrium with departure time choice, elastic demand and user heterogeneity

In this paper we formulate the dynamic user equilibrium problem with an embedded cell transmission model on a network with a single OD pair, multiple parallel paths, multiple user classes with elastic demand. The formulation is based on ideas from complementarity theory. The travel time is estimated based on two methods which have different transportation applications: (1) maximum travel time and (2) average travel time. These travel time functions result in linear and non-linear complementarity formulations respectively. Solution existence and the properties of the formulations are rigorously analyzed. Extensive computational experiments are conducted to demonstrate the benefits of the proposed formulations on various test networks.     

Implications of congestion charging for departure time choice: Work and non-work schedule flexibility

The objective of this paper is to investigate the potential impacts of implementing variable congestion charging on the peak spreading of departure time choices, taking into account levels of scheduling flexibility of individuals. In particular, this study addresses non-work activities as well as socio-economic characteristics and their influence on scheduling flexibility for work trips. Departure time choice models were calibrated using data collected as part of a larger survey on the consequences of congestion charging on travel choices in the city of Edinburgh. The inclusion of variables related to work and non-work scheduling, as well as socio-economic variables have improved the performance of the models. This suggests that non-work activities, as well as work schedule flexibility have an impact on departure time choice for the journey to work. This means that even for those with flexible work schedules, but with other non-work commitments, the timing of their work trip may not be so flexible. Therefore, for the success of variable congestion charging schemes, other complimentary measures should be introduced in parallel. These include, for example, child care provision at work, opening hours of shops and leisure facilities.     

Just pricing: the distributional effects of congestion pricing and sales taxes

Those who oppose tolls and other forms of road pricing argue that low-income, urban residents will suffer if they must pay to use congested freeways. This contention, however, fails to consider (1) how much low-income residents already pay for transportation in taxes and fees, or (2) how much residents would pay for highway infrastructure under an alternative revenue-generating scheme, such as a sales tax. This paper compares the cost burden of a value-priced road, State Route 91 (SR91) in Orange County, California with the cost burden under Orange County’s local option transportation sales tax, Measure M. We find that although the sales tax spreads the costs of transportation facilities across a large number of people inside and outside Orange County, it redistributes about $3 million (USD) in revenues from less affluent residents to those with higher incomes. The entire Measure M program redistributes an estimated $26 million from low-income residents to the more affluent. Low-income drivers as individuals save substantially if they do not have to pay tolls, but as a group low-income residents, on average, pay more out-of-pocket with sales taxes.

Large-scale network distribution of pooled empty freight cars over time,with limited substitution and equitable benefits

A set of models and procedures is described for finding the optimal distribution of empty freight cars owned by the railroads participating in a pooling agreement. A distinction is drawn between a system focus, in which the emphasis is on minimizing total cost, and a company focus, in which the benefits of the agreement to the individual railroads are emphasized. Limited car substitution is accounted for by combining interchange costs with distribution costs, and incorporating interchange possibilities and prohibitions into the network structure. Temporal variations in car supply and demand levels are also taken into account. A large-scale network algorithm is used in conjunction with decomposition to obtain solutions which show for a given time horizon how much equity can be achieved in the balance of savings among the railroads involved and at what cost. Results using actual operating data are reported.